A method for switched propeller position deployment and power distribution for an underwater robot

Abstract

The application provides a method for switching propeller position deployment and power distribution of an underwater robot, comprising the following steps: 1. initializing a power distribution scheme; 2. collecting and processing power provided by each propeller and its rotating speed in real time according to the power distribution scheme, and determining a malfunctioning propeller by comparing obvious abnormal values; 3. adjusting the position of part of the propellers on the robot and the power direction provided by the propellers according to the analysis result, and ensuring the movement function of the robot in each degree of freedom; 4. adjusting the body coordinate system according to the position of each propeller and the power direction provided by the propeller; and 5. switching the power distribution scheme according to the final adjustment result. The application can switch the propeller position deployment and power distribution scheme when at most half of the propellers of the underwater robot malfunction, adjust the body coordinate system, and ensure the movement function of the robot in each degree of freedom in various cases, and has strong flexibility and universality.

Description

Technical Field

[0001] This invention belongs to the field of robot control and relates to the positional deployment and power distribution of robot thrusters. Background Technology

[0002] The control technology for underwater robots is becoming increasingly mature, and a crucial aspect is the deployment and power distribution scheme of the thrusters. In most scenarios, underwater robots complete their designated tasks through three degrees of freedom: forward and backward movement, ascent and descent, and yaw. Each degree of freedom is typically achieved through the coordinated action of multiple thrusters. Achieving these three degrees of freedom requires at least three thrusters: one provides the power for ascent and descent, while the other two jointly provide the power for forward, backward, and yaw movements. With an increased number of thrusters, a well-designed deployment and power distribution scheme can enable underwater robots to move in even more degrees of freedom. However, existing thruster deployment and power distribution schemes are prone to failure when some thrusters malfunction, causing the underwater robot to immediately lose its movement capabilities in the corresponding degree of freedom. This can prevent the robot from completing its intended task if it cannot be retrieved in time, and may even lead to a series of safety issues. This invention addresses these problems by proposing a design scheme that allows for real-time switching of thruster deployment and power distribution, applicable to underwater robots in various scenarios. Summary of the Invention

[0003] The purpose of this invention is to address the shortcomings of existing technologies by proposing a method for switching the position deployment and power distribution of thrusters in underwater robots. This method designs a structure that enables thrusters to change their position and the direction of power they provide on the underwater robot. It analyzes the power and rotation speed provided by the thrusters to identify the faulty thrusters, and rationally changes the position deployment and the direction of power provided by other thrusters on the robot to ensure the robot's motion functions in each degree of freedom. Based on this, it can adjust the body coordinate system and redistribute the power to each thruster.

[0004] The objective of this invention can be achieved through the following technical solution, wherein the method includes:

[0005] 1) A power distribution scheme for the structural initialization of an underwater robot, specifically including:

[0006] (1) Install a single-axis slide at the location where the underwater robot is positioned to place the thruster, install the thruster on a two-dimensional gimbal to change the direction of the power provided by the thruster, and then install the two-dimensional gimbal on the single-axis slide to change the position of the thruster on the robot.

[0007] (2) The thruster on the underwater robot is generally initially symmetrical about the center of the robot. Therefore, the position of the single-axis slide is also symmetrical about the center of the underwater robot, and the thruster can move from the edge of the robot to the center.

[0008] (3) When the direction of the resultant force of the thruster that provides power to the underwater robot in a certain degree of freedom changes, the coordinate system of the robot body changes.

[0009] (4) According to the underwater robot's power distribution scheme, the output control quantity obtained by the controller solution has the following relationship with the power provided by the underwater robot's thruster:

[0010] u = W·F

[0011] Where u = [u1 u2 u3 u4] T For the output control quantity of the underwater robot, F = [F1 F2 ... F n ] T W is the vector of power provided by each thruster of the underwater robot, and W is the power distribution matrix of the underwater robot. Its specific value is determined by the structure of the underwater robot and the number, position and direction of the thrusters.

[0012] The propulsion of the thruster can be obtained by inverting or pseudo-inverting the matrix:

[0013] F = W -1 ·u

[0014] If W is a square matrix and invertible, then W can be obtained directly by performing the inverse operation. -1 Otherwise, W is obtained through pseudo-inverse operation. -1 Finally, the required thruster power F is obtained, and then the output voltage is controlled according to the relationship between thruster voltage and power.

[0015] 2) Compare the speed sensor data corresponding to each thruster. The specific steps are as follows:

[0016] The power F provided by the thruster and the rotational speed v satisfy the following relationship:

[0017] F = kv 2

[0018] For thrusters of the same model and specification operating under the same conditions, k is a constant value, which is determined through multiple experiments before use. When the underwater robot moves, the power of each thruster is calculated and its rotational speed is measured. The ratio of power to the square of rotational speed is then calculated and compared.

[0019] 3) Based on the ratio of power to the square of rotational speed of each thruster obtained in step 2), find the value that is significantly different from the k value in step 2). The thruster corresponding to this value is the thruster that has failed.

[0020] 4) Based on the underwater robot's structure in step 1) and the faulty thruster obtained in step 3), change the thruster's deployment location, specifically including:

[0021] (1) If the thrusters that are symmetrical about the center of the underwater robot to the thrusters that have failed are not failed, then the thrusters that provide the power for a certain degree of freedom of the robot must not all have failed. Then move the thruster that has not failed to the center of the robot to provide the power for the robot to move up and down.

[0022] (2) If all the thrusters that provide power for a certain degree of freedom of the robot fail, the position and direction of the thrusters that provide power for other degrees of freedom of the robot must be changed to make up for the lost motion function in the degree of freedom.

[0023] 5) Based on the thruster position and orientation obtained in step 4), adjust the body coordinate system, specifically including:

[0024] (1) Based on the results of step 4), determine whether the direction of the resultant force of the thruster provided by the underwater robot when it moves forward has changed compared with the initial state.

[0025] (2) If the result of step (1) is that there is no change, then there is no need to adjust the body coordinate system.

[0026] (3) If the result of step (1) changes and the body coordinate system uses the right-front-up coordinate system, then adjust the positive direction of the y-axis of the body coordinate system to be consistent with the direction of the resultant force of the thruster when the underwater robot moves forward, and the positive direction of the z-axis to be consistent with the direction of the resultant force of the thruster when the underwater robot rises.

[0027] (4) If the result of step (1) changes and the body coordinate system uses the front-right-bottom coordinate system, then adjust the positive x-axis of the body coordinate system to be consistent with the resultant force of the thruster when the underwater robot moves forward, and the positive z-axis to be consistent with the resultant force of the thruster when the underwater robot descends.

[0028] 6) Based on the results of steps 4) and 5), determine the power distribution for each thruster according to the method described in steps 1) and 4).

[0029] This invention has the following advantages and positive effects:

[0030] 1) Applicable to underwater robots of different sizes, shapes and functions.

[0031] 2) Provide a method for changing the position and direction of each thruster.

[0032] 3) Provide a method for determining whether each thruster has malfunctioned.

[0033] 4) It can provide a method for power distribution based on different thruster deployment positions when up to half of the thrusters fail at the same time, ensuring the robot's motion function in each degree of freedom.

[0034] 5) It can change the coordinate system of the underwater robot, increasing its flexibility and versatility. Attached Figure Description

[0035] Figure 1 This is a flowchart illustrating the method for switching thruster deployment and power distribution of an underwater robot according to the present invention.

[0036] Figure 2 This is a schematic diagram of the overall structure of the underwater robot and the initial position of the thruster in an embodiment of the present invention;

[0037] Figure 3 This is a top view and coordinate system diagram of the workpiece position on the chassis in an embodiment of the present invention;

[0038] Figure 4 This is a schematic diagram showing the positions of the two servos of the two-dimensional gimbal and their connection with the thruster in an embodiment of the present invention;

[0039] Figure 5 This is a top view and coordinate system diagram of the workpiece position on the top plate in an embodiment of the present invention;

[0040] Figure 6 This is a schematic diagram of the initial coordinate system of the underwater robot in an embodiment of the present invention;

[0041] Figure 7 This is a top view of the top plate when only thruster No. 5 malfunctions in this embodiment of the invention;

[0042] Figure 8 This is a top view of the chassis in an embodiment of the present invention when only thruster No. 3 malfunctions;

[0043] Figure 9 This is a side view of the chassis in an embodiment of the present invention when only thruster No. 3 malfunctions;

[0044] Figure 10 This is a top view of the chassis of the robot when thrusters 5 and 6 malfunction simultaneously during vertical movement in an embodiment of the present invention.

[0045] Figure 11 This is a top view of the chassis of the robot when thrusters 1 and 2 malfunction simultaneously and the robot moves left and right in an embodiment of the present invention.

[0046] Figure 12 This is a top view of the top plate when thrusters 1, 3, and 4 malfunction simultaneously in an embodiment of the present invention.

[0047] Figure 13 This is a top view of the chassis of the robot when thrusters 1, 3, and 4 malfunction simultaneously in an embodiment of the present invention and the robot moves left and right.

[0048] Figure 14 This is a top view of the chassis of the robot when thrusters 1, 3, and 4 malfunction simultaneously during vertical movement in an embodiment of the present invention. Detailed Implementation

[0049] The present invention will be further described in detail below with reference to examples of embodiments and accompanying drawings, but the embodiments of the present invention are not limited thereto.

[0050] Figure 1 A method for switching thruster deployment positions and power distribution for an underwater robot is provided, the method comprising the following steps:

[0051] 1) A power distribution scheme for the structural initialization of an underwater robot, specifically including:

[0052] (1) Install a single-axis slide at the position where the underwater robot is positioned to place the thruster, install the thruster on a two-dimensional gimbal to change the direction of the power provided by the thruster, and then install the two-dimensional gimbal on the single-axis slide to change the position of the thruster on the robot.

[0053] (2) The thruster on the underwater robot is generally initially symmetrical about the center of the robot. Therefore, the position of the single-axis slide is also symmetrical about the center of the underwater robot, which enables the thruster to move from the edge of the robot to the center.

[0054] (3) When the direction of the resultant force of the thruster that provides power to the underwater robot in a certain degree of freedom changes, the coordinate system of the robot body changes.

[0055] (4) According to the underwater robot's power distribution scheme, the output control quantity obtained by the controller solution has the following relationship with the power provided by the underwater robot's thruster:

[0056] u = W·F

[0057] Where u = [u1 u2 u3 u4] T For the output control quantity of the underwater robot, F = [F1 F2 ... F n ] T Let W be the vector of power generated by each thruster of the underwater robot, and let W be the power distribution matrix of the underwater robot. Its specific value is determined by the structure of the underwater robot and the number and position of the thrusters.

[0058] The propulsion of the thruster can be obtained by inverting or pseudo-inverting the matrix:

[0059] F = W -1 ·u

[0060] If W is a square matrix and invertible, then W can be obtained directly by performing the inverse operation. -1 Otherwise, W is obtained through pseudo-inverse operation. -1 Finally, the required thruster power F is obtained, and then the output voltage is controlled according to the relationship between thruster voltage and power.

[0061] Figure 2 This is a schematic diagram of the overall structure and initial position distribution of the thrusters of an underwater robot. The basic structure is mainly composed of a chassis, a middle layer plate, a top layer plate, and four side panels. The four thrusters on the chassis are respectively mounted on four two-dimensional gimbals, and the two thrusters on the top layer plate are respectively mounted on two two-dimensional gimbals. Each two-dimensional gimbal is mounted on a single-axis slide.

[0062] Figure 3 A top-view diagram and coordinate system diagram are provided to illustrate the positions of the single-axis slides, 2D gimbals, and thrusters on the chassis. The chassis is a regular octagon, and the positions of the single-axis slides are symmetrical about the center of the chassis. A 2D gimbal is installed on each single-axis slide, and the thrusters are positioned accordingly. Figure 3 The position shown is mounted on a two-dimensional gimbal, and the direction indicated by the arrow is the direction of the power provided when the thruster rotates forward.

[0063] Figure 4 This diagram illustrates the positions of the two servos on a 2D gimbal and their connection to the thruster. The 2D gimbal mainly consists of two servos. Servo 1 is connected to a single-axis slide, with its axis of rotation parallel to the robot's disk surface where the single-axis slide is located. The single-axis slide can change the position of the 2D gimbal within the 2D space of the robot's disk surface. The rotation of servo 1, in conjunction with the single-axis slide, can change the position of the thruster in 3D space and the direction of the power it provides. Servo 2 is connected to the thruster, with its axis of rotation perpendicular to the axis of servo 1. Its rotation can change the direction of the power provided by the thruster.

[0064] Figure 5 A top-view diagram and coordinate system diagram are provided for the positioning of the single-axis slides, 2D gimbals, and thrusters on the top plate. The top plate is a regular octagon, and the positions of the single-axis slides are symmetrical about the center of the chassis. A 2D gimbal is installed on each single-axis slide, and the thrusters are positioned accordingly. Figure 5 The position shown is mounted on a two-dimensional gimbal. When thruster #5 rotates clockwise, the power provided is vertically upward, and when thruster #6 rotates clockwise, the power provided is vertically downward.

[0065] Figure 6 The coordinate system diagram for the underwater robot adopts a right-front-top coordinate system, combined with... Figure 2 and Figure 5 The coordinate system and the numbering of the thrusters are defined as follows:

[0066] (1) The center of the robot is the origin of the coordinate system.

[0067] (2) The x-axis is along the direction of the single-axis slide where the No. 5 thruster is located, and points to the direction of the robot's rightward movement through the robot's center of gravity.

[0068] (3) The y-axis is parallel to the chassis and along the direction of the single-axis slide where the No. 5 thruster is located, pointing to the direction of the robot's forward movement through the robot's center of gravity.

[0069] (4) The z-axis passes through the robot's center of gravity and is vertically upward.

[0070] (5) The pitch angle θ is the angle of rotation of the underwater robot around the x-axis of the body coordinate system, with counterclockwise rotation being positive.

[0071] (6) The roll angle φ is the angle of rotation of the underwater robot around the y-axis of the body coordinate system, with counterclockwise rotation being positive.

[0072] (7) Yaw angle ψ is the angle of rotation of the underwater robot around the z-axis of the body coordinate system, with counterclockwise rotation being positive.

[0073] A right-front-top coordinate system is chosen as the body coordinate system for the underwater robot. The output control variable is defined as u = [xy zψ]. T Here, x, y, and z represent the linear motion of the underwater robot along its three axes, and ψ represents its yaw motion. Since the motion of these four degrees of freedom can meet the needs of most scenarios, pitch and roll motions are not considered here. The thruster numbered i is defined to provide a power of F. i ,i=1,2,3,4,5,6.

[0074] by Figure 2 Taking the underwater robot shown as an example, its power distribution has the following relationship:

[0075]

[0076] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0077]

[0078] This allows us to obtain the power distribution information for the underwater robot, and then control the output voltage based on the relationship between the thruster voltage and the power.

[0079] 2) Compare the speed sensor data corresponding to each thruster. The specific steps are as follows:

[0080] The power F provided by the thruster and the rotational speed v satisfy the following relationship:

[0081] F = kv 2

[0082] For thrusters of the same model and specifications operating under the same conditions, k is a constant value, which is determined through multiple experiments before use. When the underwater robot moves, the power of each thruster is calculated, its rotational speed is measured, and the ratio of power to the square of rotational speed is calculated and compared.

[0083] 3) Based on the ratio of power to the square of rotational speed of each thruster obtained in step 2), find the value that is significantly different from the k value in step 2). The thruster corresponding to this value is the thruster that has failed.

[0084] 4) Based on the structure of the underwater robot in step 1) and the faulty thruster obtained in step 3), change the position and deployment of the thruster.

[0085] 5) Adjust the body coordinate system based on the thruster position and orientation obtained in step 4).

[0086] 6) Based on the results of steps 4) and 5), determine the power distribution for each thruster according to the method described in steps 1) and 4).

[0087] Figure 2 The underwater robot shown may experience thruster malfunctions in one of three ways:

[0088] 1) Only one thruster failed:

[0089] (1) Thruster No. 5 or No. 6 malfunctioned.

[0090] Taking the failure of thruster #5 as an example, not all thrusters providing power for the robot's vertical movement have failed. Thruster #6 can be moved along the single-axis slide to the center of the top plate. To ensure the underwater robot's self-balancing, thruster #5 should also be moved along the single-axis slide to its midpoint, but it will not participate in subsequent power distribution. The thrusters providing power for the robot's other degrees of freedom are not faulty, and there is no need to adjust the body coordinate system. Figure 7 The top view of the top plate after adjusting the position of the thrusters shows that the power provided by thruster No. 6 when rotating forward is vertically downward.

[0091] The power distribution has the following relationship:

[0092]

[0093] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0094]

[0095] (2) Thrusters No. 1, 2, 3 or 4 malfunction.

[0096] Taking the failure of thruster #3 as an example, the underwater robot's vertical movement is unaffected, but the movement in the other three degrees of freedom is affected. At this point, thruster #2, which is symmetrical to thruster #3 about the center of the robot's chassis, is moved to the center of the chassis to provide power for the robot's horizontal movement. When thruster #3 is not involved in power distribution, the robot's movement in the other degrees of freedom is unaffected. Figure 8 To adjust the chassis top view after repositioning the thrusters, and to change the direction of the robot's movement along the x and y axes, the body coordinate system needs to be rotated 135 degrees clockwise around the z-axis. The thrusters on the top plate do not require adjustment. Figure 9 The side view of the chassis after adjusting the position of the thrusters shows that the water flow is not obstructed when thruster No. 2 provides power, and it does not affect the robot's movement along the x-axis.

[0097] The power distribution has the following relationship:

[0098]

[0099] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0100]

[0101] 2) Two thrusters fail simultaneously:

[0102] (1) Both thrusters No. 5 and No. 6 malfunctioned simultaneously.

[0103] At this point, the underwater robot cannot move up and down, but its other degrees of freedom remain unaffected. Moving any one of the thrusters on the chassis to the center of the chassis provides power for the robot's vertical and horizontal movements.

[0104] The following analysis uses the No. 2 mobile thruster as an example. The chassis top view and coordinate system are the same. Figure 8 Side view same Figure 9 Thruster #3 provides power for the robot's yaw motion. Rotate thruster #2 to... Figure 10 The indicated position provides power for the robot's vertical movement; the power provided by thruster #2 when rotating clockwise is vertically upward. Additionally, the body coordinate system needs to be rotated 135 degrees clockwise around the z-axis. The thrusters on the top plate do not require adjustment.

[0105] The power distribution has the following relationship:

[0106]

[0107] In the above relationship, W is a singular matrix, which is obtained through pseudo-inverse operation. -1 :

[0108]

[0109] (2) Both propellers of the chassis malfunctioned simultaneously.

[0110] At this point, the underwater robot's movement along the x-axis is affected, while other degrees of freedom remain unaffected.

[0111] Taking the simultaneous failure of thrusters 1 and 2 as an example, the positions of the thrusters on the chassis do not need to be adjusted, while the positions of the thrusters on the top plate are adjusted to... Figure 7 As shown, when thruster #6 rotates clockwise, the power it provides is vertically downwards, and thruster #5 does not participate in power distribution. When thruster #6 rotates to... Figure 11 At the indicated position, power is provided to move the robot along the x-axis, and the body coordinate system does not need to be adjusted.

[0112] The power distribution has the following relationship:

[0113]

[0114] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0115]

[0116] (3) One thruster on the chassis and one on the top plate malfunctioned simultaneously.

[0117] Taking the simultaneous failure of thrusters 3 and 5 as an example, the adjustments to the thruster and body coordinate system, as well as the power distribution scheme, are the same as when thrusters 5 and 6 fail simultaneously. Figure 5 , Figure 8 , Figure 9 and Figure 10 As shown.

[0118] 3) Three thrusters malfunctioned:

[0119] (1) Both propellers of the chassis and one propeller of the top plate failed simultaneously.

[0120] Taking the simultaneous failure of thrusters 1, 2, and 5 as an example, the adjustments to the thruster and body coordinate system, as well as the power distribution scheme, are the same as when thrusters 1 and 2 fail simultaneously. Figure 3 , Figure 7 and Figure 11 As shown.

[0121] (2) One of the chassis thrusters and thrusters No. 5 and No. 6 malfunctioned simultaneously.

[0122] Taking the simultaneous failure of thrusters 3, 5, and 6 as an example, the adjustment of the thruster and body coordinate system in this case is the same as when thrusters 5 and 6 fail simultaneously. Figure 5 , Figure 8 , Figure 9 and Figure 10 As shown, the power distribution scheme has changed; in contrast, thruster number 3 does not participate in power distribution.

[0123] The power distribution has the following relationship:

[0124]

[0125] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0126]

[0127] (3) All three propellers of the chassis failed simultaneously.

[0128] Taking the simultaneous failure of thrusters 1, 3, and 4 as an example, in this case, the underwater robot only retains its vertical movement function, while other degrees of freedom are affected. Based on the scenario where only thruster 3 fails, thruster 2 can simultaneously provide power for the robot's vertical and horizontal movements. Therefore, the position and orientation of the top-mounted thruster and the body coordinate system are adjusted accordingly. Figure 12 The positions shown indicate that thrusters 5 and 6 provide power for the robot's y-axis motion and yaw motion. Adjust the position and orientation of the chassis thrusters and the body coordinate system to... Figure 13 As shown, thruster number 2 provides power for the robot's movement along the x-axis. Adjust the position and orientation of the chassis thrusters and the body coordinate system accordingly. Figure 14 At the indicated position, thruster number 2 provides power for the robot's vertical movement; when thruster number 2 rotates clockwise, the power it provides is vertically upward. Compared to the initial state, the robot's coordinate system is rotated 45 degrees counterclockwise around the z-axis to align with the robot's coordinate system.

[0129] The power distribution has the following relationship:

[0130]

[0131] In the above relationship, W is not a square matrix; W is obtained through pseudo-inverse operation. -1 :

[0132]

[0133] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope disclosed in the present invention, based on the inventive concept or technical solution of the present invention, shall fall within the scope of protection of the present invention.

Claims

1. A method for switching thruster deployment positions and power distribution for an underwater robot, characterized in that, The method includes the following steps: 1) A power distribution scheme for the structural initialization of underwater robots, specifically including: (1-1) A structure is built using a single-axis slide and a two-dimensional gimbal, which enables the structure to adjust the position of the thruster on the underwater robot, the direction of the power it provides, and the coordinate system of the robot body. (1-2) Determine the power distribution scheme under the initial state; 2) Based on the power distribution scheme obtained in step 1), collect and process the power provided by each thruster and its rotational speed in real time, and determine the thruster that has failed through analysis; 3) Based on the analysis results of step 2), adjust the position and power direction of some of the thrusters on the robot to ensure the robot's motion function in each degree of freedom; 4) Adjust the body coordinate system based on the positions of each thruster and the direction of the power provided obtained in step 3); 5) Based on the final adjustment results of step 4), switch the power distribution scheme; The specific implementation method of step (1-1) includes: Install a single-axis slide at the location where the underwater robot's thrusters are positioned. Mount the thrusters on a two-dimensional gimbal to change the direction of the power provided by the thrusters. Then mount the two-dimensional gimbal on the single-axis slide to change the position of the thrusters on the underwater robot. The initial position of the thruster on the underwater robot is symmetrical about the center of the underwater robot, and the position of the single-axis slide is also symmetrical about the center of the underwater robot. The thruster can move from the edge of the underwater robot to the center. When the direction of the thruster that provides power to the underwater robot in a certain degree of freedom changes, the body coordinate system changes. Determine the power distribution scheme under the initial conditions, specifically including: The output control quantity and the power provided by the underwater robot's thruster are related as follows: in, For the output control quantity of the underwater robot, The vector consisting of the power supplied to each thruster of the underwater robot. This is the power distribution matrix for the underwater robot in its initial state. Its specific value is determined by the structure of the underwater robot and the number, position, and direction of the thrusters provided. The propulsion provided by the thruster can be obtained by inverting or pseudo-inverting the matrix: 。 2. The method for switching thruster deployment and power distribution for an underwater robot according to claim 1, characterized in that, Real-time acquisition and processing of the power F and rotational speed v provided by each thruster, specifically including: The power F and rotational speed v provided by each thruster satisfy the following relationship: When the underwater robot moves, the power of each propeller is calculated and its rotational speed is measured to obtain the ratio of power to the square of rotational speed, i.e., the k value.

3. The method for switching thruster deployment and power distribution for an underwater robot according to claim 2, characterized in that, The faulty thrusters were identified through comparison, specifically including: For thrusters of the same model and specifications under the same environment, k is a fixed value. Before use, the value of k is measured through multiple experiments. By comparison, the thruster with a significant difference from the value of k is the thruster that has failed.

4. The method for switching thruster deployment and power distribution for an underwater robot according to claim 1, characterized in that, Adjusting the position and power direction of some thrusters on the underwater robot ensures the robot's motion capabilities in all degrees of freedom, specifically including: If the thrusters that are symmetrical about the center of the underwater robot to the thrusters that have failed are not failed, then not all of the thrusters that provide the power for a certain degree of freedom of movement of the underwater robot have failed. In this case, the thrusters that are not failed at that position are moved to the center of the robot so that they provide the power for the robot to move up and down. If all the thrusters that provide power for a certain degree of freedom of movement of a robot fail, the position and direction of the thrusters that provide power for other degrees of freedom of movement must be changed to make up for the lost degrees of freedom of movement.

5. A method for switching thruster deployment and power distribution for an underwater robot according to claim 1, characterized in that, Adjusting the machine's coordinate system specifically includes: Determine whether the direction of the thrust provided by the underwater robot's thrusters has changed compared to its initial state when the robot moves forward; If no changes have occurred, there is no need to adjust the body coordinate system; If changes are made and the body coordinate system uses the right-front-up coordinate system, then the positive direction of the y-axis of the adjusted body coordinate system is consistent with the direction of the power provided by the thruster when the underwater robot moves forward, and the positive direction of the z-axis is consistent with the direction of the power provided by the thruster when the underwater robot rises. If changes occur, and the body coordinate system uses a front-right-bottom coordinate system, then the positive x-axis of the adjusted body coordinate system is consistent with the direction of the power provided by the thrusters when the underwater robot moves forward, and the positive z-axis is consistent with the direction of the power provided by the thrusters when the underwater robot descends.

6. The method for switching thruster deployment and power distribution for an underwater robot according to claim 1, characterized in that, Switching the power distribution scheme specifically includes: The output control quantity and the power provided by the underwater robot's thruster are related as follows: in, For the output control quantity of the underwater robot, The vector consisting of the power supplied to each thruster of the underwater robot. The power distribution matrix of the underwater robot is determined by the structure of the underwater robot and the number and position of the thrusters after adjusting the position and power direction of some of the thrusters. The propulsion of the thruster can be obtained by inverting or pseudo-inverting the matrix: 。

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